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Group of Marine Dynamics and Hydrodynamics > 2.3 Ship Manoeuvring and Control > Publications
Sutulo, S. and Guedes Soares, C. (2007), “An Algorithm for Consistent Linearization of Ship Manoeuvring Mathematical Models”, Conference on Control and Applications in Marine Systems, 19-21 September, Bol. Croatia
A numerical algorithm for flexible linearization of substantially nonlinear ship mathematical models described by ordinary differential equations is proposed. The linearization can be performed over any pre-defined domain in the state space or subspace in the least-square sense. A discrete set of points is created inside the domain of interest by means of a quasi-random sequence generator. Then, the exact model’s responses are calculated on this set and a common least-square procedure is applied. Local or differential linearization can be performed with the same algorithm choosing an appropriately small domain around any point of interest in the state space. A numerical example for a typical directionally unstable vessel is given and studied is the influence of the number of the generated quasirandom points and of the linearization domain’s dimensions.
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